US20220147006A1 - Control system and control apparatus - Google Patents

Control system and control apparatus Download PDF

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Publication number
US20220147006A1
US20220147006A1 US17/434,834 US202017434834A US2022147006A1 US 20220147006 A1 US20220147006 A1 US 20220147006A1 US 202017434834 A US202017434834 A US 202017434834A US 2022147006 A1 US2022147006 A1 US 2022147006A1
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Prior art keywords
slave
slaves
control apparatus
specified
instruction
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English (en)
Inventor
Akihiro ISHIMURA
Kojiro BABA
Taishi KAWAGUCHI
Norihiro MAEKAWA
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Omron Corp
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Omron Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • H04L61/2038—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H04L61/50—Address allocation
    • H04L61/5038—Address allocation for local use, e.g. in LAN or USB networks, or in a controller area network [CAN]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/11—Plc I-O input output
    • G05B2219/1113—Address setting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/21—Pc I-O input output
    • G05B2219/21005—Several slave modules connected to same I-O of master, multiplexed by master
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave

Definitions

  • the present invention relates to a control system which includes a slave network-connected to the control system, and a control apparatus for use by the control system.
  • a control system In the area of factory automation (FA), a control system is popular which includes a control apparatus and one or more slaves which are network-connected to the control apparatus. As the slave, an apparatus is assumed which provides any processing capabilities, such as an input/output device, a robot control, a vision sensor, etc. Typically, the control apparatus functions a master.
  • FA factory automation
  • the control apparatus exchanges data with each slave, and thus needs to identify each slave.
  • the information for identifying a slave is referred to as a slave ID (identification information), a network ID (identification information), a network address, and a node address.
  • the number of slaves and the connection arrangement of the slaves are appropriately determined, depending on a control object, or may be added or changed after such determination is made. In such a case, the information for identifying each slave also needs to be reloaded as appropriate.
  • Japanese Patent Laying-Open No. 2015-176369 discloses a configuration which allows a group name, a device name, a network address, and a node address to be flexibly set for each device on a user interface screen for setting a group to be provided by a support apparatus.
  • a machine changeover is frequency performed on a manufacturing line for high-mix, low-volume production.
  • the identification information of a slave needs to be reset or changed.
  • a configuration is demanded for facilitating troubleshooting of a failure that is caused when resetting or changing of the identification information as such.
  • a control system includes: a control apparatus functioning as a master; and a plurality of slaves which are network-connected to the control apparatus.
  • the plurality of slaves each have identification information.
  • the control apparatus includes an identification information set means configured to execute a first instruction to set specified identification information to each of one or more specified slaves.
  • the identification information set means outputs first error information indicating which slave that the setting of the identification information to which is failed, among the one or more specified slaves.
  • the identification information set means may output an array of members corresponding to the one or more specified slaves, as the first error information.
  • the first instruction may receive a table name to which the first error information is to be output.
  • the first error information can be stored into any table.
  • the identification information set means may further output second error information indicating whether setting of the identification information to each of the one or more specified slaves is failed.
  • the identification information set means may further output third error information indicating a reason for failure in setting of the identification information to each of the one or more specified slaves.
  • the control system may further include a display device configured to visually present a position of a slave that the setting of the identification information to which is failed among the one or more specified slaves, based on the first error information.
  • the first instruction may be executed as a part of a user program executed at the control apparatus.
  • the identification information can be set to the slave, without use of a support apparatus or the like.
  • the control apparatus further includes an identification information read means configured to execute a second instruction, in which any one of the plurality of slaves is specified as a reference slave, to read identification information set to each of specified slaves other than the slave being specified as the reference slave.
  • an identification information read means configured to execute a second instruction, in which any one of the plurality of slaves is specified as a reference slave, to read identification information set to each of specified slaves other than the slave being specified as the reference slave.
  • the control apparatus may have configuration information defining a connection arrangement of the plurality of slaves.
  • the control apparatus may further include a disable means configured to execute a third instruction to disable some or all slaves included in definition by the configuration information. With this configuration, the process is allowed to continue, without causing an abnormality to occur, even though the configuration information and the actual connection arrangement do not match.
  • a control apparatus functioning as a master.
  • the control apparatus includes a controller configured to network-connect the control apparatus to a plurality of slaves, the plurality of slaves each having identification information.
  • the control apparatus includes an identification information set means configured to execute a first instruction to set specified identification information to each of one or more specified slaves.
  • the identification information set means outputs first error information indicating which slave the setting of the identification information to which is failed among the one or more specified slaves.
  • FIG. 1 is a schematic view showing an overall configuration example of a control system according to the present embodiment.
  • FIG. 2 is a schematic view for illustrating a background technology according to the present embodiment.
  • FIG. 3 is a diagram illustrating one example of configuration information held by a control apparatus of FIG. 2 .
  • FIG. 4 is a diagram for illustrating changes in configuration information in response to a changeover shown in FIG. 2 .
  • FIG. 5 is a schematic view showing an example hardware configuration of the control apparatus included in the control system according to the present embodiment.
  • FIG. 6 is a schematic view showing an example hardware configuration of a slave included in the control system according to the present embodiment.
  • FIG. 7 is a schematic view showing an example hardware configuration of a support apparatus included in the control system according to the present embodiment.
  • FIG. 8 is a diagram for illustrating changes in slave ID caused by a changeover.
  • FIG. 9 is a diagram for illustrating settings of the slave ID using a position address.
  • FIG. 10 is a diagram for illustrating one example of a slave ID set instruction according to the present embodiment.
  • FIG. 11 is a schematic view for illustrating a slave ID set process performed at a slave included in the control system according to the present embodiment.
  • FIG. 12 is a diagram for illustrating a slave ID set instruction as a functional block which is available for a user program of the control apparatus according to the present embodiment.
  • FIG. 13 is a diagram for illustrating a slave ID read instruction as a functional block which is available for the user program of the control apparatus according to the present embodiment.
  • FIG. 14 is a sequence diagram showing a procedure performed when the slave ID set instruction according to the present embodiment is executed from the user program.
  • FIG. 15 is a schematic view showing one example of actual-configuration information held by an actual-configuration management component shown in FIG. 14 .
  • FIG. 16 is a schematic view showing one example of an abnormal termination result output from the slave ID set instruction according to the present embodiment.
  • FIG. 17 is a diagram for illustrating details of a changeover using the slave ID set instruction according to the present embodiment.
  • FIG. 18 is a diagram showing an essential part of the user program corresponding to the changeover shown in FIG. 17 .
  • FIG. 19 is a diagram for illustrating changes in connection condition corresponding to the changeover shown in FIG. 17 .
  • FIG. 20 is a diagram for illustrating changes in configuration information corresponding to the changeover shown in FIG. 17 .
  • FIG. 21 is a diagram illustrating one example of a user program for prompting for a reboot of a slave, using the slave ID set instruction according to the present embodiment.
  • FIG. 22 is a diagram illustrating one example of a user program for implementing the presentation of information upon a failure of the execution of the slave ID set instruction according to the present embodiment.
  • FIG. 1 one example scene is described to which the present invention is applied.
  • FIG. 1 is a schematic view showing an overall configuration example of a control system 1 according to the present embodiment.
  • the control system 1 includes a control apparatus 100 functioning as a master; and one or more slaves 200 - 1 , 200 - 2 , . . . (hereinafter, also collectively referred to as a “slave 200 ”) which are network-connected to the control apparatus 100 .
  • an industrial network typically, such as EtherCAT (registered trademark), EtherNet/IP (registered trademark), DeviceNet (registered trademark), CompoNet (registered trademark), is employed as the network-connecting the control apparatus 100 and the one or more slaves 200 .
  • EtherCAT registered trademark
  • EtherNet/IP registered trademark
  • DeviceNet registered trademark
  • CompoNet registered trademark
  • the slaves 200 each have identification information that can be identified by the control apparatus 100 functioning as the master.
  • identification information can be identified by the control apparatus 100 functioning as the master.
  • description will be given with reference to a “slave ID” (the details will be described later) as such identification information.
  • the identification information is not limited to the “slave ID,” and any identification information can be used.
  • the control apparatus can flexibly reset or change (also simply, collectively referred to as “set”) the slave ID (the identification information) set to any slave 200 . More specifically, the control apparatus 100 executes a predetermined instruction, thereby setting, to one or more specified slaves 200 , specified slaves ID (identification information), respectively, at which time the control apparatus 100 outputs error information indicating which slave that the setting of the slave ID to which is failed among the one or more specified slaves.
  • identify information the control apparatus 100 outputs error information indicating which slave that the setting of the slave ID to which is failed among the one or more specified slaves.
  • the term “master” collectively refers to an entity or function that manages data transfer over the network.
  • the “master” can include an apparatus (device) itself that manages the data transfer.
  • slave is an antonym of the master, collectively referring to an entity or function that transfers data over a network of interest, under the management of the master of the network.
  • the “slave” can include an apparatus (device) itself that transfers data.
  • master and slave distinguish the differences in function related to the data transfer over the network of interest, and functions and relationships other than the data transfer are not particularly limited.
  • configuration information refers to information indicating definitions of configurations, etc. held by the control apparatus or other device.
  • position address refers to an address that is determined in accordance with a rule predetermined depending on a topology on the network. For example, the position addresses “0,” “0 ⁇ ffff,” “0 ⁇ fffe,” and so on may be assigned to the slaves, respectively, in the order starting from a slave closest to the master to a slave farthest away from the master.
  • slave ID refers to identification information that is given to each slave in order to prevent misidentification of devices from happening, by the master comparing the slave ID with the configuration information.
  • the “slave ID” is flexibly set by the master, and whether the slave is connected to a correct positions is thereby determined.
  • the “slave ID” is also refers to as a “node address.” While the “node address” may be set by a rotary switch disposed in the slave, “the slave ID,” in the following, is described as being resettable and changeable by the master.
  • the term “unknown slave” refers to a slave whose actual configuration does not match corresponding settings in the configuration information held by the master.
  • the “unknown slave” refers to a slave that is disposed at a position different from the intended position defined by the configuration information.
  • FIG. 2 is a schematic view for illustrating a background technology according to the present embodiment.
  • FIG. 2 shows a configuration example in which two control apparatuses 100 - 1 and 100 - 2 control two manufacturing lines, respectively.
  • Part (A) of FIG. 2 shows an example in which a manufacturing module 30 is disposed on a conveyer 20 and a manufacturing module 40 is disposed on a conveyer 22 .
  • the control apparatus 100 - 1 controls the manufacturing module 30
  • the control apparatus 100 - 2 controls the manufacturing module 40 .
  • Part (B) of FIG. 2 shows a configuration example in which the manufacturing module 30 has been transferred from the conveyer 20 to the conveyer 22 .
  • the control apparatus 100 - 2 controls the manufacturing module 30 and the manufacturing module 40 .
  • FIG. 3 is a diagram illustrating one example of configuration information held by the control apparatus 100 shown in FIG. 2 .
  • FIG. 4 is a diagram for illustrating changes in configuration information in response to the changeover shown in FIG. 2 .
  • the control apparatuses 100 - 1 and 100 - 2 each have configuration information (corresponding to configuration information 134 shown in FIG. 5 ) defining the connection arrangement of the multiple slaves 200 as shown in FIG. 3 . More specifically, the configuration information shown in FIG. 3 indicates that a junction slave 200 J is connected to the control apparatus 100 , a slave included in the manufacturing module 30 is connected to one port of the junction slave 200 J, and a slave included in the manufacturing module 40 is connected to another port of the junction slave 200 J.
  • Part (A) of FIG. 4 shows an example setting of the control apparatuses 100 - 1 and 100 - 2 corresponding the configuration example shown in (A) of FIG. 2
  • (B) of FIG. 4 shows an example setting of the control apparatuses 100 - 1 and 100 - 2 corresponding to the configuration example shown in (B) of FIG. 2 .
  • the settings of slaves corresponding to the manufacturing modules that are not actually present in each of the control apparatuses 100 - 1 and 100 - 2 are disabled. More specifically, in the case of (A) of FIG. 4 , the settings related to the manufacturing module 40 is disabled for the control apparatus 100 - 1 , and the settings related to the manufacturing module 30 is disabled for the control apparatus 100 - 2 . In the case of (B) of FIG. 4 , the settings related to the manufacturing modules 30 and 40 is disabled for the control apparatus 100 - 1 .
  • the control apparatus 100 is capable of resetting and changing the slave ID, in addition to disabling some or all the configuration information as described above. By resetting and changing a slave ID as such, the adaptability for changeovers can be further enhanced.
  • FIG. 5 is a schematic view showing an example hardware configuration of the control apparatus 100 included in the control system according to the present embodiment.
  • the control apparatus 100 includes a processor 102 , a chipset 104 , a main memory 106 , a storage 108 , a network controller 110 , a universal serial bus (USB) controller 112 , a memory card interface 114 , an internal bus controller 118 , a field network controller 120 , a counter 126 , and a real time clock (RTC) 128 .
  • a processor 102 includes a processor 102 , a chipset 104 , a main memory 106 , a storage 108 , a network controller 110 , a universal serial bus (USB) controller 112 , a memory card interface 114 , an internal bus controller 118 , a field network controller 120 , a counter 126 , and a real time clock (RTC) 128 .
  • USB universal serial bus
  • the processor 102 corresponds to an arithmetic processing unit that performs control operations.
  • the processor 102 is configured of a central processing unit (CPU) or a graphics processing unit (GPU), for example.
  • the processor 102 reads programs (a system program 130 and a user program 132 as one example) stored in the storage 108 and deploys the programs to the main memory 106 , thereby implementing a control depending on a control object, and various processes as described below.
  • the main memory 106 is configured of a volatile memory, such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), for example.
  • the storage 108 is configured of a nonvolatile memory, such as a solid state drive (SSD) or a hard disk drive (HDD), for example.
  • SSD solid state drive
  • HDD hard disk drive
  • the chipset 104 controls the processor 102 and each device, thereby implementing an overall process of the control apparatus 100 .
  • the storage 108 stores the user program 132 that is created depending on equipment or machines, etc. to be controlled.
  • the network controller 110 exchanges data with any information processing apparatus, such as a gateway or a database server, via an information system network.
  • the USB controller 112 exchanges data with the support apparatus 300 via USB connection.
  • the memory card interface 114 is detachable from a memory card 116 , and capable of writing data to the memory card 116 and reading various data from the memory card 116 .
  • the counter 126 is used as a time base for managing the implementation timing of various programs executed at the control apparatus 100 .
  • the counter 126 may be implemented using a high precision event timer (HPET) or the like that is disposed on a system bus driving the processor 102 , or implemented using a dedicated circuit, such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).
  • HPET high precision event timer
  • ASIC application specific integrated circuit
  • FPGA field-programmable gate array
  • the RTC 128 is a type of counter having a timing function, and provides the current time to the processor 102 , etc.
  • the internal bus controller 118 corresponds to a communications interface for electrically connecting one or more functional units 150 - 1 , 150 - 2 , . . . (hereinafter, also collectively referred to as “functional unit 150 ”) and the control apparatus 100 via an internal bus 6 .
  • the internal bus controller 118 functions as a master for performing fixed-cycle communications via the internal bus 6 .
  • the functional unit 150 collectively refers to apparatuses that are connected to the control apparatus 100 and exchange various signals with a control object.
  • the functional unit 150 can include an input/output (IO) unit, a communications unit, and a controller unit implementing special functions, such as PID control and motion control.
  • the IO unit has one or more functions among, for example, a digital input (DI) function for receiving a digital input signal from a control object, a digital output (DO) function for sending a digital output signal to a control object, an analog input (AI) function for receiving an analog input signal from a control object, and an analog output (AO) function for sending an analog output signal to a control object.
  • DI digital input
  • DO digital output
  • AI analog input
  • AO analog output
  • the field network controller 120 corresponds to a communications interface for electrically connecting the one or more slaves 200 - 1 , 200 - 2 , . . . (the slave 200 ) and the control apparatus 100 via a network 4 .
  • the field network controller 120 is a controller for connecting to multiple slaves 200 , and functions as a master for performing fixed-cycle communications via the network 4 .
  • FIG. 5 shows the configuration example in which necessary functions are provided by the processor 102 executing the programs
  • some or all of these functions provided may be implemented using a dedicated hardware circuit (e.g., ASIC or FPGA, etc.).
  • the primary components of the control apparatus 100 may be implemented using hardware in accordance with a general-purpose architecture (e.g., a general-purpose personal computer-based industrial personal computer).
  • a virtualization technique may be used to execute, in parallel, multiple operating systems (OS) for different applications, and cause necessary applications to be executed on each OS.
  • OS operating systems
  • a configuration may be employed in which the functions of a display device and the support apparatus, etc. are integrated with the control apparatus 100 .
  • FIG. 6 is a schematic view showing an example hardware configuration of the slave 200 included in the control system according to the present embodiment.
  • the slave 200 includes a field network controller 202 , a main controller 210 , and a function circuitry 230 .
  • the field network controller 202 corresponds to a communications interface for electrically connecting the control apparatus 100 (the master) and the slave 200 via the network 4 .
  • the field network controller 202 functions as a communication slave for performing data exchange under management of the master.
  • the main controller 210 is a circuit responsible for a primary control of the slave 200 , and, for example, includes a processor 212 , a main memory 214 , and a nonvolatile memory 220 .
  • the nonvolatile memory 220 stores firmware 226 for execution by the processor 212 , and a slave ID 224 .
  • the function circuitry 230 provides a native function of the slave 200 .
  • the function circuitry 230 includes an inverter circuit, a control circuit, etc.
  • the function circuitry 230 includes a communications interface for exchanging data via the internal bus with a functional unit connected to the function circuitry 230 .
  • FIG. 6 shows the main controller 210 which includes the processor 212 , some or all of the functions provided by the main controller 210 may be implemented using a dedicated hardware circuit (e.g., ASIC or FPGA, etc.).
  • a dedicated hardware circuit e.g., ASIC or FPGA, etc.
  • FIG. 7 is a schematic view showing an example hardware configuration of the support apparatus 300 included in the control system according to the present embodiment.
  • the support apparatus 300 is implemented by executing programs using hardware (e.g., a general-purpose personal computer) in accordance with a general-purpose architecture.
  • hardware e.g., a general-purpose personal computer
  • the support apparatus 300 includes a processor 302 , a main memory 304 , a storage 306 , an input unit 308 , a display unit 310 , an optical drive 312 , and a USB controller 316 . These components are connected together via a processor bus 318 .
  • the processor 302 is configured of a CPU, a GPU, or the like.
  • the processor 302 reads programs (an OS 320 and a support program 326 as one example) stored in the storage 306 and deploys the programs to the main memory 304 , thereby implementing various processes as described below.
  • the main memory 304 is configured of a volatile memory, such as a DRAM or a SRAM, for example.
  • the storage 306 is configured of a nonvolatile memory, such as a HDD or a SSD, for example.
  • the storage 306 stores the support program 326 for providing a function as the support apparatus 300 .
  • the storage 306 further stores the configuration information 134 . The way to obtain and utilize these information will be described below.
  • the input unit 308 is configured of a keyboard or a mouse, and receives user operations.
  • the display unit 310 is configured of a display, various indicators, a printer, etc., and outputs a result of processing from the processor 302 .
  • the USB controller 316 controls exchange of data with the control apparatus 100 , etc., via USB connection.
  • the support apparatus 300 has the optical drive 312 which reads programs stored in a recording medium 314 (e.g., an optical recording medium, such as a digital versatile disc (DVD)) non-transitorily storing computer-readable programs, and the programs are installed into the storage 306 , etc.
  • a recording medium 314 e.g., an optical recording medium, such as a digital versatile disc (DVD)
  • DVD digital versatile disc
  • the program executed at the support apparatus 300 while it may be installed in the support apparatus 300 via the computer-readable recording medium 314 , may be downloaded from, for example, a server device on the network, and installed in the support apparatus 300 .
  • the functions provided by the support apparatus 300 according to the present embodiment may also be implemented in a manner that utilizes some of the modules provided by the OS.
  • FIG. 7 shows the configuration example in which the necessary functions as the support apparatus 300 are provided by the processor 302 executing the programs, some or all of these functions provided may be implemented using a dedicated hardware circuit (e.g., ASIC or FPGA, etc.).
  • a dedicated hardware circuit e.g., ASIC or FPGA, etc.
  • FIG. 8 is a diagram for illustrating changes in slave ID caused by a changeover.
  • Part (A) of FIG. 8 shows an example in which the control apparatus 100 , which is the master, is connected to the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) and the manufacturing module 40 (the slaves 200 - 3 and 200 - 4 ) via the junction slave 200 J.
  • the slave IDs of the slaves 200 - 1 and 200 - 2 are set to “1” and “2,” respectively.
  • the slave IDs of the slaves 200 - 3 and 200 - 4 are set to “3” and “4,” respectively.
  • a changeover has changed the connection arrangement from one shown in (A) of FIG. 8 to one shown in (B) of FIG. 8 , at which time the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) is connected to a port of the junction slave 200 J different from a port to which the manufacturing module 30 was initially connected.
  • the setting configuration differs from the setting configuration with the connection arrangement shown in (A) of FIG. 8 .
  • the slaves 200 - 1 and 200 - 2 whose slave IDs are respectively set to “1” and “2” are now connected to locations different from the locations defined in the configuration information 134 held by the control apparatus 100 which is the master.
  • the slaves 200 - 1 and 200 - 2 are “unknown slaves” in the connection arrangement shown in (B) of FIG. 8 .
  • the slave ID of such a slave that has turned to be an “unknown slave” is required to be reset or changed.
  • problems as follow are contemplated in resetting or changing such a slave ID.
  • a slave ID that is set to the slave 200 whose actual configuration matches the configuration information 134 can be referred to in the user program 132 executed at the control apparatus 100 which is the master.
  • the user program 132 is unable to refer to or specify a slave ID of an unknown slave.
  • the user program 132 is unable to identify a target unknown slave, and therefore unable to reset or change the slave ID of the unknown slave.
  • the use of the position to which the unknown slave is connected i.e., the position address
  • the use of the position to which the unknown slave is connected i.e., the position address
  • FIG. 9 is a diagram for illustrating setting of a slave ID using a position address.
  • Part (A) of FIG. 9 shows an example in which the control apparatus 100 , which is the master, is connected to the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) and the manufacturing module 40 (the slaves 200 - 3 and 200 - 4 ), via the junction slave 200 J.
  • a changeover has changed the connection arrangement from one shown in (A) of FIG. 9 to one shown in (B) of FIG. 9 , at which time the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) is connected to a port of the junction slave 200 J different from a port to which the manufacturing module 30 was initially connected. Furthermore, another manufacturing module 50 (the slaves 200 - 5 and 200 - 6 ) is now connected to the port of the junction slave 200 J to which the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) was connected.
  • the instructions as follows are available in order to set any slave ID to the slave 200 at a certain position address.
  • the present embodiment provides a method which allows any slave ID to be set to any slave 200 in an easy way, using instructions available for the user program 132 .
  • an instructions (hereinafter, referred to as a “slave ID set instruction”) is provided which is executable in the user program 132 and for resetting or changing a slave ID.
  • the use of such a slave ID set instruction obviates the need for the support apparatus 300 in setting a slave ID to each slave 200 .
  • the instruction is executed as a part of the user program 132 , a changeover and setting of a slave ID can also be carried out in parallel, using, for example, a user operation of the display device as a trigger.
  • the slave ID set instruction identifies the unknown slave, using, as a reference slave, a slave which is located close to the unknown slave and whose slave ID has been obtained. The slave ID set instruction then sets any slave ID to the identified unknown slave.
  • FIG. 10 is a diagram for illustrating one example of the slave ID set instruction according to the present embodiment.
  • FIG. 10 shows an example in which a slave ID is set to the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ) connected to a portC of the junction slave 200 J.
  • a slave ID set instruction 400 sets slave IDs to the respective slaves 200 - 1 and 200 - 2 , which are unknown slaves, using, as a reference slave, the junction slave 200 J that has a valid slave ID.
  • the slave ID set instruction 400 (EC_SetSlaveSlaveID) is specified in a format as follows:
  • (100, portC, [5, 6], 2) is specified as parameters of the instruction EC_SetSlaveSlaveID.
  • the first parameter, “100,” indicates the slave ID of a reference slave.
  • the slave ID of the junction slave 200 J is stored as the first parameter.
  • the second parameter, “portC,” specifies the port name of the junction slave 200 J to which the slaves 200 - 1 and 200 - 2 whose slave IDs are to be respectively set are connected.
  • the third parameter, “[5, 6]” indicates values of the slave IDs to be set to the target slaves 200 - 1 and 200 - 2 , respectively.
  • the fourth parameter, “2,” indicates the number of slaves 200 - 1 and 200 - 2 whose slave ID is to be set.
  • the control apparatus 100 executes the slave ID set instruction 400 in which any one of slaves 200 is specified as a reference slave, thereby setting the specified slave IDs (identification information) to the specified slaves 200 , respectively, other than the slave being specified as the reference slave.
  • Such a process of setting a slave ID (identification information) using any one of slaves 200 as a reference corresponds to an identification information set function.
  • the slave ID set instruction 400 may receive designation of a port to which the slave 200 is connected (the parameter [port name] of EC_SetSlaveSlaveID).
  • the parameter [port name] of EC_SetSlaveSlaveID the parameter [port name] of EC_SetSlaveSlaveID.
  • any information may be used insofar as the information can identify the network that is connected to a reference slave 200 .
  • a user is not made aware of the position address of an unknown slave when setting a slave ID to the unknown slave.
  • the user can readily create the user program 132 when the user needs to set a slave ID with a changeover, etc.
  • the slave ID set instruction 400 can also specify multiple slave IDs to multiple slaves 200 to which the specified slave IDs are to be set, respectively.
  • the control apparatus 100 according to the present embodiment can also set specified slaves ID (the identification information) to one or more specified slaves 200 , respectively, by executing the slave ID set instruction 400 .
  • FIG. 10 shows an example of the slave ID set instruction 400 that sets two slave IDs to two slaves 200 , respectively, for purposes of explanation, it should be noted that the present invention is not limited thereto.
  • a slave ID can be set to one slave 200 , or slave IDs can be set to even more slaves 200 , respectively.
  • a slave that is directly connected to the manufacturing module 30 (the slaves 200 - 1 and 200 - 2 ), that is, directly connected to a slave 200 whose slave ID is to be set, is set as a reference slave
  • the present invention is not limited thereto.
  • any slave having a valid slave ID can be used as a reference slave to identify any unknown slave by means of a path (the number of paths and hops) from the reference slave, and set a slave ID to the unknown slave.
  • a reference slave is located closer to the master than a slave 200 , whose slave ID is to be set, is.
  • the slave ID set instruction 400 can further be specified in any representation.
  • the slave ID set instruction 400 may be specified in the form of a functional block (the details will be described later).
  • FIG. 11 is a schematic view for illustrating the slave ID set process that is performed at a slave 200 included in the control system according to the present embodiment.
  • the slave 200 has the slave ID 224 stored in the nonvolatile memory 220 .
  • a slave ID storage register 216 is available on the main memory 214 during the operation of the slave 200 .
  • a slave ID is also written to the slave ID storage register 216 .
  • the slave 200 has the nonvolatile memory 220 for holding a slave ID (the identification information), and the main memory 214 which is a volatile memory holding a slave ID (the identification information) set to the slave 200 .
  • two types of method of writing of a slave ID to the slave ID storage register 216 are available.
  • the first method is a method of the master writing the content of the nonvolatile memory 220 of the slave 200 .
  • the nonvolatile memory 220 has a region that can be externally accessed, and the slave ID 224 is stored in that region.
  • the nonvolatile memory 220 may be implemented in an EEPROM.
  • the master accesses and writes a slave ID to the nonvolatile memory 220 (sequence SQ 1 ).
  • the write is, since it is performed using a slave information interface (SII), also referred to as a “SII write.”
  • SII slave information interface
  • the control apparatus 100 writes a specified slave ID to the nonvolatile memory 220 of a specified slave 200 , using SII.
  • the slave ID written to the nonvolatile memory 220 is not reflected as is to the slave ID storage register 216 .
  • the slave ID stored in the nonvolatile memory 220 is read upon a reboot of the slave 200 , and then reflected to the slave ID storage register 216 (sequence SQ 2 ). For this reason, if a slave ID is written to the nonvolatile memory 220 of a slave 200 whose slave ID is to be set, the slave 200 is required to be rebooted.
  • the second method employs a slave identification reload object 218 .
  • the slave identification reload object 218 is an object that is specified as a service data object (SDO) in EtherCAT, and can be processed in response to an external access.
  • SDO service data object
  • the slave identification reload object 218 is instantiated on the main memory 214 , and can reload the slave ID stored in the slave ID storage register 216 , in accordance with an external command.
  • the write is, since it is performed using a CoE (CANopen over EtherCAT) protocol, also referred to as a “CoE write.”
  • CoE CANopen over EtherCAT
  • control apparatus 100 uses the CoE protocol to write a specified slave ID to the main memory 214 (the volatile memory) of a specified slave 200 in the slave ID set process.
  • the slave identification reload object 218 reloads the value stored in the slave ID storage register 216 (sequence SQ 3 ).
  • the slave identification reload object 218 reloads the value of the slave ID stored in the main memory 214 .
  • the slave identification reload object 218 there is no need to interrupt the power supply of the slave 200 and reboot the slave 200 to reflect the slave ID.
  • the slave identification reload object 218 is required to be implemented in the slave 200 whose slave ID is to be set. Conversely, in order to reflect a slave ID that is set to a slave 200 in which no slave identification reload object 218 is implemented, the interruption of the power supply of the slave 200 and a reboot of the slave 200 are required.
  • a slave ID is set to a slave 200 by both the first and second method.
  • the control apparatus 100 writes a specified slave ID to both the nonvolatile memory 220 and the main memory 214 (a volatile memory) of the target slave 200 , at which time the control apparatus 100 outputs information (such as “ShouldReboot 415 ” shown in FIG. 12 described below) indicating whether a reboot of the specified slave 200 is required, in response to whether the writing of the specified slave ID to the specified slave 200 is successful or not.
  • information such as “ShouldReboot 415 ” shown in FIG. 12 described below
  • first and second methods only one of the first and second methods may be performed.
  • the second method may be performed, and the first method may be performed only if the performance of the second method is failed (typically, if the slave identification reload object 218 is not implemented in the target slave 200 ).
  • slave ID set instruction 400 can be specified in any form, they may be specified in the form of a functional block, for example.
  • FIG. 12 is a diagram for illustrating the slave ID set instruction 400 as a functional block which is available for the user program 132 for the control apparatus 100 according to the present embodiment.
  • the slave ID set instruction 400 as the functional block includes Execute 401 , PreviousSlaveID 402 , PreviousSlavePort 403 , NewSlaveIDTable 404 , NumOfSlaves 405 , and FailureTable 406 as inputs.
  • a boolean variable which is a condition for executing the slave ID set instruction 400 , is specified in Execute 401 .
  • a slave ID of a reference slave is specified in PreviousSlaveID 402 .
  • a port name of the reference slave is specified in PreviousSlavePort 403 .
  • One or more slaves ID to be set are specified in NewSlaveIDTable 404 .
  • a number of slaves to which slave IDs are to be respectively set is specified in NumOfSlaves 405 .
  • FailureTable 406 specifies a table name storing slaves that the setting of respective slave IDs to which is failed.
  • the slave ID set instruction 400 as the functional block also includes Done 411 , Busy 412 , Error 413 , ErrorID 414 , ShouldReboot 415 , and FailureTable 416 as outputs.
  • Done 411 outputs a boolean value indicating whether the slave ID set instruction 400 is normally terminated.
  • Busy 412 outputs a boolean value indicating whether the slave ID set instruction 400 is in process.
  • Error 413 outputs a boolean value indicating whether the slave ID set instruction 400 is abnormally terminated.
  • ErrorID 414 outputs an error value upon abnormal termination of the slave ID set instruction 400 .
  • ShouldReboot 415 outputs a boolean value indicating whether a reboot of a slave whose slave ID is to be set, is required.
  • FailureTable 416 outputs an array of slaves that the setting of slave IDs to which, respectively, is failed. As such, the slave ID set instruction 400 is to receive a table name to which the error information is to be output, the error information indicating which slave the setting of a slave ID to which is failed.
  • PreviousSlaveID 402 , PreviousSlavePort 403 , NewSlaveIDTable 404 , and NumOfSlaves 405 shown in FIG. 12 , each correspond to a parameter for setting, to one or more unknown slaves, respective slave IDs, with any slave being set as a reference slave, as described with reference to FIG. 10 .
  • FailureTables 406 and 416 shown in FIG. 12 , store information indicating whether a slave ID is successfully set to an unknown slave.
  • the value output as ShouldReboot 415 shown in FIG. 12 corresponds to the information indicating, when a slave ID is set to a slave in which no slave identification reload object 218 is implemented, that a reboot of the slave needs is required, as described with reference to FIG. 11 .
  • an instruction (hereinafter, referred to as a “slave ID read instruction”) may be provided which obtains the slave ID of an unknown slave, rather than setting a slave ID to an unknown slave.
  • FIG. 13 is a diagram for illustrating a slave ID read instruction 420 as a functional block which is available for the user program 132 included in the control apparatus 100 according to the present embodiment.
  • the slave ID read instruction 420 as the functional block includes Execute 421 , PreviousSlaveID 422 , PreviousSlavePort 423 , and NumOfSlaves 424 as inputs.
  • a boolean variable which is a condition for executing the slave ID read instruction 420 , is specified in Execute 421 .
  • the slave ID of a reference slave is specified in PreviousSlaveID 422 .
  • a port name of the reference slave is specified in PreviousSlavePort 423 .
  • a number of slaves whose respective slave IDs are to be read is specified in NumOfSlaves 424 .
  • the slave ID read instruction 420 as the functional block also includes Done 431 , Busy 432 , Error 433 , ErrorID 434 , GetSlaveIDTable 435 , and IsSlaveIDTable 436 as outputs.
  • Done 431 outputs a boolean value indicating whether the slave ID read instruction 420 is normally terminated.
  • Busy 432 outputs a boolean value indicating whether the slave ID read instruction 420 is in process.
  • Error 433 outputs a boolean value indicating whether the slave ID read instruction 420 is abnormally terminated.
  • ErrorID 434 outputs an error value upon abnormal termination of the slave ID read instruction 420 .
  • GetSlaveIDTable 435 outputs an array of slave IDs read from the respective slaves.
  • IsSlaveIDTable 436 outputs an array of boolean values indicating whether the slave ID are successfully obtained.
  • the control apparatus 100 executes the slave ID read instruction 420 specifying one of slaves 200 as a reference slave, thereby reading the slave IDs (the identification information) set to other specified slaves 200 , respectively.
  • Such a process of reading the slave IDs (the identification information) using any one of slaves 200 as a reference slave corresponds to an identification information read function.
  • the slave ID set instruction 400 and the slave ID read instruction 420 as described above may be executed as a part of the user program 132 executed at the control apparatus 100 .
  • the user program 132 can include a code designating the execution of the slave ID set instruction 400 or the slave ID read instruction 420 .
  • a procedure is described which is performed when the slave ID set instruction 400 according to the present embodiment is executed from the user program 132 .
  • FIG. 14 is a sequence diagram showing a procedure performed when the slave ID set instruction 400 according to the present embodiment is executed from the user program 132 .
  • the procedure, shown in FIG. 14 involves the user program 132 executed by the processor 102 included in the control apparatus 100 , the field network controller 120 providing functions of the control apparatus 100 as the master, and the slave 200 .
  • the field network controller 120 has an instructions interface 122 which receives instructions from the user program 132 , and an actual-configuration management component 124 which manages the actual connection condition (hereafter, also referred to as “actual-configuration information”) of a slave 200 connected to the network 4 .
  • the position, to which the slave 200 is connected whose slave ID is to be set by the execution of the slave ID set instruction 400 is identified by referring to connection conditions (the actual-configuration information) of multiple slaves 200 .
  • an instruction activation instruction is provided to the instructions interface 122 of the field network controller 120 (sequence SQ 102 ).
  • the instruction activation instruction includes input information to be set to the slave ID set instruction 400 shown in FIG. 12 .
  • the instructions interface 122 refers to the actual-configuration information managed by the actual-configuration management component 124 , and obtains the slave ID of an unknown slave whose slave ID is to be set, based on the slave ID and the port name of the specified reference slave (sequence SQ 104 ).
  • the instructions interface 122 identifies the slave 200 whose slave ID is to be set, based on the slave ID obtained in the sequence SQ 104 , and then writes the specified slave ID to the nonvolatile memory 220 of the identified slave 200 (sequence SQ 106 ).
  • the instructions interface 122 further obtains a result of the writing of the slave ID to the nonvolatile memory 220 (a write result) (sequence SQ 108 ), and stores the write result therein (sequence SQ 110 ).
  • the instructions interface 122 identifies the slave 200 whose slave ID is to be set, based on the slave ID obtained in the sequence SQ 104 , and then writes the specified slave ID to the slave identification reload object 218 of the slave 200 (sequence SQ 112 ).
  • the instructions interface 122 further obtains a result of the writing of the slave ID to the slave identification reload object 218 (a write result) (sequence SQ 114 ), and stores the write result therein (sequence SQ 116 ).
  • the instructions interface 122 returns a result of execution of the instruction to the user program 132 (sequence SQ 118 ).
  • the result of execution of the instruction returned to the user program 132 includes a boolean value indicating whether a reboot of the slave, whose slave ID is to be set, is required (ShouldReboot 415 ). Specifically, if the specified slave ID is successfully written to the slave identification reload object 218 , irrespective of whether the specified slave ID is successfully written to the nonvolatile memory 220 (sequence SQ 106 ), a value is returned to the user program 132 , indicating that there is no need to reboot the slave whose slave ID is to be set.
  • the control apparatus 100 outputs the information indicating that a reboot of the specified slave is required.
  • FIG. 15 is a schematic view showing one example of the actual-configuration information held by the actual-configuration management component 124 shown in FIG. 14 . As one example, FIG. 15 shows the actual-configuration information corresponding to the connection arrangement shown in FIG. 10 .
  • the actual-configuration management component 124 includes the device information of the junction slave 200 J located closest to the control apparatus 100 functioning as the master, and the device information of the slaves 200 - 1 and 200 - 2 connected to respective ports of the junction slave 200 J. These information are managed in a manner that the connections between the junction slave 200 J and the slaves 200 - 1 and 200 - 2 are reflected thereto.
  • the actual-configuration management component 124 refers to the actual-configuration information, thereby identifying the slaves 200 - 1 and 200 - 2 that are connected to portC of the junction slave 200 J.
  • FIG. 15 Note that the information embodied in FIG. 15 is for purposes of explanation, and may be managed in any form.
  • the slave ID set instruction 400 and the slave ID read instruction 420 that are available for the user program 132 of the control apparatus 100 set or read respective slave IDs of one or more slaves. If one wishes to execute the process for multiple slaves and an execution failure (the abnormal termination) occurs at any of the slaves, it is not easy to determine in which slave the abnormality has occurred and its cause. Thus, the present embodiment provides an analysis assistance function in the event of failure as follows.
  • FIG. 16 is a schematic view showing one example of an abnormal termination result output from the slave ID set instruction 400 according to the present embodiment. As one example, FIG. 16 shows an example in which four slave IDs are set to four slaves 200 - 1 to 200 - 4 , respectively, connected to the junction slave 200 J.
  • FailureTable 416 output from the slave ID set instruction 400 includes four boolean values indicating whether a slave ID is successfully set to each slave 200 . For example, if four slave IDs are set to four slaves 200 - 1 to 200 - 4 , respectively, without an abnormality, an array [0, 0, 0, 0] is output.
  • FailureTable 416 is output in which the value at the position corresponding to the second closest slave 200 - 2 has been changed to “1.” In other words, an array [0, 1, 0, 0] is output as FailureTable 416 .
  • the control apparatus 100 outputs the information identifying the slave 200 that the setting of a slave ID to which has failed in the slave ID set process. More specifically, the control apparatus 100 outputs error information (FailureTable 416 ) indicating which slave that the setting a slave ID to which is failed in the slave ID set process among the one or more specified slaves 200 . FailureTable 416 , output as the error information, stores an array of members corresponding to the one or more specified slaves 200 .
  • the slave ID set instruction 400 executed by the control apparatus 100 , outputs an abnormal termination result associated with the position of a slave relative to a reference slave, and thus can readily identify the position of the slave in which an abnormality has occurred.
  • the information indicating the position of the slave 200 that the setting or reading of a slave ID to which is failed is output from the slave ID set instruction 400 .
  • the slave ID set instruction 400 may further output Error 413 ( FIG. 12 ) indicating whether the setting of slave IDs to the one or more specified slaves 200 , respectively, has failed.
  • Error 413 FIG. 12
  • a process may be implemented in which FailureTable 416 is referred to when Error 413 has a value indicating that the setting of a slave ID is failed.
  • An error code may be further output, indicating a reason for the failure in setting or reading of a slave ID.
  • the slave ID set instruction 400 as a functional block can output the reason as ErrorID 414 (see FIG. 12 ).
  • the slave ID set instruction 400 may further output ErrorID 414 (see FIG. 12 ) indicating a reason for the failure in setting of slave IDs to the one or more specified slaves 200 , respectively, has failed.
  • the slave ID set instruction 400 may output an error code for each slave 200 . If multiple error codes are generated, the slave ID set instruction 400 may output the error codes in the order starting from an error code with a highest priority.
  • the slave ID set instruction 400 as a functional block may output the information indicating whether a slave ID is successfully set, as Error 413 .
  • the slave ID set instruction and the slave ID read instruction of the present embodiment the information indicating whether the instructions are successfully executed or not (successful/failed) can be obtained, and an error code indicating a reason for the failure can be obtained too. Furthermore, according to the slave ID set instruction and the slave ID read instruction of the present embodiment, the position of a slave that the setting of a slave ID to which is failed can also be identified. When the setting of a slave ID to a slave fails, the use of these information allows readily identification of the target slave and its cause.
  • the control apparatus 100 may further store the content of a command (packet) transmitted to a target slave when setting or reading the slave ID from the slave, and output the content of the stored command (packet) in the event of a failure of any of the processes.
  • the control apparatus 100 may further store a log associated with the processes of setting or reading of slave IDs, and output the content of the log in the event of a failure of any of the processes.
  • FIG. 17 is a diagram for illustrating the content of a changeover using the slave ID set instruction 400 according to the present embodiment. Assume that the connection arrangement is changed from one shown in (A) of FIG. 17 to one shown in (B) of FIG. 17 . More specifically, assume that four slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are disconnected from a port X4 of the junction slave 200 J, and reconnected to a port X5 of the junction slave 200 J.
  • FIG. 18 is a diagram showing an essential part of the user program 132 corresponding to the changeover shown in FIG. 17 .
  • the user program 132 includes seven lines of codes having row numbers 0 to 6.
  • An instruction EC ChangeEnableSetting included in the user program 132 switches the slave between enabled and disabled.
  • the slave enabled/disabled switch instructions 450 , 451 , 452 , and 453 described on the row numbers 0, 1, 2, and 3 enable target slaves, and the slave enabled/disabled switch instructions 454 , 455 , 456 , and 457 described on the row numbers 6, 7, 8, and 9 disable the target slaves.
  • the control apparatus 100 executes these instructions for disabling the target slaves, thereby disabling some or all the slaves included in the definition by the configuration information 134 .
  • An instruction ResetECError resets an error of the slave.
  • a slave error reset instruction 460 described on the row number 5 corresponds to the instruction ResetECError.
  • FIG. 19 is a diagram for illustrating changes in connection condition corresponding to the changeover shown in FIG. 17 .
  • FIG. 20 is a diagram for illustrating changes in configuration information 134 corresponding to the changeover shown in FIG. 17 .
  • the changeover shown in FIG. 17 is performed in accordance with the following steps 1 to 7. Note that “#” is appended to each number, meaning that the number is a value of a slave ID.
  • slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are connected to the port X4 of the junction slave 200 J, as shown in (A) of FIG. 19 .
  • the support apparatus 300 sets slave IDs “3,” “4,” “5,” and “6” to the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 , respectively.
  • the support apparatus 300 also transfers the configuration information 134 shown in (A) of FIG. 20 to the control apparatus 100 functioning as the master, at which time the slaves #3 to #10 are all set “Disabled.”
  • the control apparatus 100 , the junction slave 200 J, and the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are powered on.
  • the slave enabled/disabled switch instruction (not shown in FIG. 18 ) included in the user program 132 are executed, thereby enabling the slaves #3 to #6 in the configuration information 134 (see (B) of FIG. 20 ). This initiates the operation of the control apparatus 100 with the connection arrangement shown in (A) of FIG. 17 .
  • the slave enabled/disabled switch instructions 450 , 451 , 452 , and 453 are executed, thereby disabling the slaves #3 to #6 in the configuration information 134 .
  • the configuration information 134 returns to the state shown in (A) of FIG. 20 .
  • the power supply for the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 is interrupted as shown in (B) of FIG. 19 , and the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are then detached from the port X4 of the junction slave 200 J.
  • Step 5 Subsequently, four slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are connected to the port X5 of the junction slave 200 J, as shown in (C) of FIG. 19 .
  • the power supply for the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 are then cycled.
  • the slave ID set instruction 400 is executed (the fourth line of the user program 132 shown in FIG. 18 ).
  • the slave ID set instruction 400 uses the junction slave 200 J as a reference slave to identify the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 connected to a port X4 as target slaves, and then sets the slave IDs “7,” “8,” “9,” “10” to the slaves 200 - 1 , 200 - 2 , 200 - 3 , and 200 - 4 , respectively.
  • the slave error reset instruction 460 is executed (the fifth line of the user program 132 shown in FIG. 18 ).
  • the slave enabled/disabled switch instructions 454 , 455 , 456 , and 457 are further executed (the sixth to ninth lines of the user program 132 shown in FIG. 18 ), thereby enabling the slaves #7 to #10 in the configuration information 134 (see (C) of FIG. 20 ). This initiates the operation of the control apparatus 100 with the connection arrangement shown in (B) of FIG. 17 .
  • a changeover can be implement using the user program 132 by providing the slave ID set instruction 400 according to the present embodiment and associated instructions.
  • a reboot of the slave 200 is required.
  • the user program 132 can be created so as to prompt an operator to reboot such a slave 200 .
  • FIG. 21 is a diagram illustrating one example of the user program 132 for prompting for a reboot of the slave 200 , using the slave ID set instruction 400 according to the present embodiment.
  • the user program 132 shown in FIG. 21 outputs the value of ShouldReboot 415 from the slave ID set instruction 400 in a variable (a boolean value) “ShouldReboot.”
  • “ShouldReboot” determines a value (a boolean value) of a variable “RebootRampOn.” In other words, as the variable “ShouldReboot” is set “true,” the variable “RebootRampOn” are also set “true.”
  • the slave ID set instruction 400 outputs the information which allows identification of the failed slave 200 .
  • the user program 132 can also be created for presenting such position-identifiable information to an operator.
  • FIG. 22 is a diagram illustrating one example of the user program 132 for implementing the presentation of information upon failure of execution of the slave ID set instruction 400 according to the present embodiment.
  • the user program 132 shown in FIG. 22 , is associated with a display device 500 , which is a user interface for the operator.
  • the values (an array) of FailureTable 416 are output from the slave ID set instruction 400 in the form of an array “failAdrs[4]” consisting of four members.
  • the slave ID set instruction 400 is specified to set four slave IDs to four slaves 200 , respectively, and values, indicating whether four slave IDs are successfully set to four slaves 200 , respectively, are stored in the variable “failAdrs[4].”
  • the respective member values “failAdrs(1),” “failAdrs(2),” “failAdrs(3),” and “failAdrs(4)” can be associated with a display object that indicates each slave 200 on the display device 500 .
  • the association of a mode of display with a corresponding variable value differentiates a mode of display (e.g., such as a color) of a display object corresponding to the slave 200 the setting of a slave ID to which is failed, from other display objects.
  • the display device 500 visually presents the position of the slave 200 that the setting of a slave ID to which is failed, based on the values (array) stored in FailureTable 416 . This allows an operator to know at a glance in which slave an abnormality has occurred.
  • variable value With association of the variable value with another information allows identification of a slave in which some abnormality has occurred, and readily determination of a cause of the abnormality.
  • control apparatus functioning as a master
  • the plurality of slaves each have identification information ( 224 ),
  • control apparatus comprises an identification information set means ( 102 , 122 ) configured to execute a first instruction ( 400 ) to set specified identification information to each of one or more specified slaves, and
  • the identification information set means is configured to output first error information ( 416 ) indicating which slave that the setting of the identification information to which is failed, among the one or more specified slaves.
  • the identification information set means is configured to output an array of members corresponding to the one or more specified slaves, as the first error information.
  • the first instruction is configured to receive a table name ( 406 ) to which the first error information is to be output.
  • the identification information set means is further configured to output second error information ( 413 ) indicating whether setting of the identification information to each of the one or more specified slaves is failed.
  • the identification information set means is further configured to output third error information ( 414 ) indicating a reason for failure in setting of the identification information to each of the one or more specified slaves.
  • control system according to any one of configurations 1 to 5, further comprising:
  • a display device configured to visually present a position of a slave that the setting of the identification information to which is failed among the one or more specified slaves, based on the first error information.
  • the first instruction is executed as a part of a user program ( 130 ) executed at the control apparatus.
  • control apparatus further comprises an identification information read means ( 102 , 122 ) configured to execute a second instruction ( 420 ), in which any one of the plurality of slaves is specified as a reference slave, to read identification information set to specified slaves other than the slave being specified as the reference slave.
  • control apparatus has configuration information ( 134 ) defining a connection arrangement of the plurality of slaves, and
  • control apparatus further comprises a disable means ( 102 , 122 ) configured to execute a third instruction ( 450 , 451 , 452 , 453 , 454 , 455 , 456 , 457 ) to disable some or all slaves included in definition by the configuration information.
  • a disable means 102 , 122
  • the control apparatus further comprises a disable means ( 102 , 122 ) configured to execute a third instruction ( 450 , 451 , 452 , 453 , 454 , 455 , 456 , 457 ) to disable some or all slaves included in definition by the configuration information.
  • controller 120 configured to network-connect the control apparatus to a plurality of slaves ( 200 ), the plurality of slaves each having identification information ( 224 );
  • an identification information set means ( 102 , 122 ) configured to execute a first instruction ( 400 ) to set specified identification information to each of one or more specified slaves, wherein
  • the identification information set means is configured to output first error information ( 416 ) indicating which slave the setting of the identification information to which is failed among the one or more specified slaves.
  • the control system can set any slave ID (or node address) to any unknown slave, using the slave ID set instruction executed on the user program. For this reason, even in a situation in which a changeover or the like occurs and a different slave ID has to be set to the same slave, necessary settings can be achieved only with the user program, without the use of the support apparatus.
  • the slave ID set instruction can identify any unknown slave, using any slave having a valid slave ID as a reference slave, and then set any slave ID to the unknown slave.
  • the use of the method of identification of any unknown slave using any slave as a reference slave allows the slave ID to be readily reset or changed, independent of the position address, etc.
  • the slave ID set instruction according to the present embodiment can set multiple slave IDs to multiple slaves, respectively, in a collective manner, a time required to reset or change the slave ID can be reduced.
  • the slave ID set instruction according to the present embodiment can distinguish between a slave whose slave ID having set thereto can be reflected instantly and a slave whose reboot is required to reflect the slave ID having set thereto, over which the information about the slave whose reboot is required is output from the slave ID set instruction. For this reason, the operation of an operator in charge of a changeover, etc. can be readily assisted.
  • the slave ID set instruction according to the present embodiment also outputs the information identifying the position of the slave that the setting of a slave ID to which is failed. For this reason, troubleshooting can be facilitated. Since the slave ID set instruction according to the present embodiment further outputs an error code indicating a reason why the setting of the slave ID has failed, the troubleshooting is more facilitated, using the position of the slave that the setting of a slave ID to which is failed.

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